602 lines
18 KiB
C++
602 lines
18 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include <QApplication>
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#include <QBrush>
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#include <QDateTime>
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#include <QDir>
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#include <QFileDialog>
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#include <QGraphicsScene>
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#include <QGraphicsView>
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#include <QIcon>
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#include <QListWidgetItem>
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#include <QMetaObject>
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#include <QPixmap>
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#include <QPushButton>
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#include <QStandardPaths>
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#include <QVBoxLayout>
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#include <algorithm>
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#include <thread>
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#include "IVrUtils.h"
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#include "PathManager.h"
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#include "SingleTargetResultWidget.h"
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#include "StyledMessageBox.h"
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#include "Version.h"
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#include "VrDateUtils.h"
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#include "VrLog.h"
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namespace {
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bool IsExceptionGuideState(int guideStateCode)
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{
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return guideStateCode >= 10 && guideStateCode <= 24;
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}
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QString FormatNumber(double value, const QString& unit, int precision = 2)
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{
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return QStringLiteral("%1%2").arg(value, 0, 'f', precision).arg(unit);
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}
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} // namespace
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MainWindow::MainWindow(QWidget* parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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{
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ui->setupUi(this);
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setWindowTitle(QStringLiteral("停车引导"));
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if (ui->label) {
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ui->label->setText(QStringLiteral("停车引导"));
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}
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#ifdef _WIN32
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setWindowIcon(QIcon(":/common/resource/logo.ico"));
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#else
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setWindowIcon(QIcon(":/common/resource/logo.png"));
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#endif
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QFont statusFont = statusBar()->font();
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statusFont.setPointSize(12);
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statusBar()->setFont(statusFont);
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statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");
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const QString versionWithBuildTime = QString("%1_%2%3%4%5%6%7")
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.arg(GetParkingSpaceGuideFullVersion())
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.arg(YEAR)
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.arg(MONTH, 2, 10, QChar('0'))
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.arg(DAY, 2, 10, QChar('0'))
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.arg(HOUR, 2, 10, QChar('0'))
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.arg(MINUTE, 2, 10, QChar('0'))
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.arg(SECOND, 2, 10, QChar('0'));
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m_versionLabel = new QLabel(versionWithBuildTime);
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m_versionLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;");
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m_versionLabel->setCursor(Qt::PointingHandCursor);
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m_versionLabel->installEventFilter(this);
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statusBar()->addPermanentWidget(m_versionLabel);
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setWindowFlags(Qt::FramelessWindowHint);
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showMaximized();
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ui->label_work->setVisible(false);
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ui->detect_image->setScene(new QGraphicsScene(this));
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m_logHelper = new DetectLogHelper(ui->detect_log, this);
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qRegisterMetaType<DetectionResult>("DetectionResult");
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qRegisterMetaType<WorkStatus>("WorkStatus");
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qRegisterMetaType<ParkingSpaceGuidePosition>("ParkingSpaceGuidePosition");
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connect(this, &MainWindow::workStatusUpdateRequested,
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this, &MainWindow::updateWorkStatusLabel);
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connect(this, &MainWindow::detectionResultUpdateRequested,
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this, &MainWindow::updateDetectionResultDisplay);
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setupContextMenu();
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updateStatusLog(tr("设备初始化开始"));
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Init();
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}
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MainWindow::~MainWindow()
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{
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if (m_presenter) {
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m_presenter->SetStatusCallback(static_cast<IYParkingSpaceGuideStatus*>(nullptr));
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m_presenter->DeinitApp();
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delete m_presenter;
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m_presenter = nullptr;
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}
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delete ui;
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}
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bool MainWindow::eventFilter(QObject* obj, QEvent* event)
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{
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if (obj == m_versionLabel && event->type() == QEvent::MouseButtonPress) {
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const QString algoVersion = m_presenter ? m_presenter->GetAlgoVersion() : QString();
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AboutDialog dlg(PARKINGSPACEGUIDE_APP_NAME, m_versionLabel->text(), algoVersion, this);
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dlg.exec();
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return true;
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}
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return QMainWindow::eventFilter(obj, event);
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}
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void MainWindow::updateStatusLog(const QString& message)
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{
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if (m_logHelper) {
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m_logHelper->appendLog(message);
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}
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}
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void MainWindow::clearDetectionLog()
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{
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if (m_logHelper) {
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m_logHelper->clearLog();
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}
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}
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void MainWindow::Init()
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{
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m_presenter = new ParkingSpaceGuidePresenter();
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m_presenter->SetStatusCallback<IYParkingSpaceGuideStatus>(this);
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m_deviceStatusWidget = new DeviceStatusWidget(ui->frame_dev);
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m_deviceStatusWidget->setCameraCount(2, true);
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m_deviceStatusWidget->setCamera1Name(tr("平面相机"));
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m_deviceStatusWidget->setCamera2Name(tr("雷达"));
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m_deviceStatusWidget->setRobotVisible(false);
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connect(m_deviceStatusWidget, SIGNAL(cameraClicked(int)), this, SLOT(onCameraClicked(int)));
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auto* frameDevLayout = new QVBoxLayout(ui->frame_dev);
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frameDevLayout->setContentsMargins(0, 0, 0, 0);
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frameDevLayout->addWidget(m_deviceStatusWidget);
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SingleTargetResultWidget::setupListWidget(ui->detect_result_list, QSize(520, 182));
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setButtonsEnabled(false);
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std::thread initThread([this]() {
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updateStatusLog(tr("系统初始化中..."));
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const int result = m_presenter->Init();
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if (result != 0) {
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updateStatusLog(tr("初始化失败，错误码：%1").arg(result));
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} else {
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updateStatusLog(tr("初始化完成"));
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}
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});
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initThread.detach();
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}
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void MainWindow::displayImage(const QImage& image)
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{
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if (image.isNull()) {
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updateStatusLog(tr("无预览图像"));
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return;
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}
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QGraphicsScene* scene = ui->detect_image->scene();
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scene->clear();
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scene->addPixmap(QPixmap::fromImage(image));
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ui->detect_image->fitInView(scene->sceneRect(), Qt::KeepAspectRatio);
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}
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void MainWindow::addDetectionResult(const DetectionResult& result)
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{
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ui->detect_result_list->clear();
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const int itemWidth = (std::max)(360, ui->detect_result_list->viewport()->width() - 8);
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const int itemHeight = 182;
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SingleTargetResultWidget::setupListWidget(ui->detect_result_list, QSize(itemWidth, itemHeight));
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auto* resultWidget = new SingleTargetResultWidget();
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resultWidget->setAutoFillBackground(true);
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auto* item = new QListWidgetItem();
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item->setBackground(QBrush(Qt::transparent));
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item->setSizeHint(QSize(itemWidth, itemHeight));
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item->setFlags(item->flags() & ~Qt::ItemIsDragEnabled & ~Qt::ItemIsDropEnabled);
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ui->detect_result_list->addItem(item);
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ui->detect_result_list->setItemWidget(item, resultWidget);
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if (result.parkingSpaceInfoList.empty()) {
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resultWidget->setTitle(tr("目标结果"));
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resultWidget->setStatus(tr("无结果"), true);
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resultWidget->setEmptyText(tr("暂无停机状态结果"));
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return;
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}
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const ParkingSpaceGuideInfo& info = result.parkingSpaceInfoList.front();
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const bool hasException = result.errorCode != 0 || info.hasException || IsExceptionGuideState(info.guideStateCode);
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resultWidget->setTitle(tr("当前目标"));
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resultWidget->setStatus(hasException ? tr("异常") : tr("正常"), hasException);
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resultWidget->setFields({
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{tr("目标编号"), info.targetId},
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{tr("停机位"), info.parkId},
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{tr("机型"), info.modelType},
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{tr("引导状态"), QStringLiteral("%1 %2").arg(info.guideStateCode).arg(info.guideText)},
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{tr("到停止线"), FormatNumber(info.distance, tr("毫米"))},
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{tr("横向偏移"), FormatNumber(info.lateralOffset, tr("毫米"))},
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{tr("偏转角"), FormatNumber(info.angle, tr("度"))},
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{tr("速度"), FormatNumber(info.aircraftSpeed, tr("米/秒"), 2)}
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});
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updateStatusLog(tr("引导结果：目标编号=%1，停机位=%2，机型=%3，距离=%4毫米，横向偏移=%5毫米，角度=%6度，速度=%7米/秒")
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.arg(info.targetId)
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.arg(info.parkId)
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.arg(info.modelType)
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.arg(info.distance, 0, 'f', 2)
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.arg(info.lateralOffset, 0, 'f', 2)
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.arg(info.angle, 0, 'f', 2)
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.arg(info.aircraftSpeed, 0, 'f', 2));
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}
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void MainWindow::OnStatusUpdate(const std::string& statusMessage)
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{
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updateStatusLog(QString::fromStdString(statusMessage));
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}
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void MainWindow::OnDetectionResult(const DetectionResult& result)
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{
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emit detectionResultUpdateRequested(result);
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}
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void MainWindow::OnCamera1StatusChanged(bool isConnected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera1Status(isConnected);
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}
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}
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void MainWindow::OnCamera2StatusChanged(bool isConnected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera2Status(isConnected);
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}
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}
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void MainWindow::OnRobotConnectionChanged(bool isConnected)
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{
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Q_UNUSED(isConnected);
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}
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void MainWindow::OnSerialConnectionChanged(bool isConnected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateSerialStatus(isConnected);
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}
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}
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void MainWindow::OnCameraCountChanged(int cameraCount)
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{
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Q_UNUSED(cameraCount);
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->setCameraCount(2, true);
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m_deviceStatusWidget->setCamera1Name(tr("平面相机"));
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m_deviceStatusWidget->setCamera2Name(tr("雷达"));
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}
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}
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void MainWindow::OnWorkStatusChanged(WorkStatus status)
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{
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emit workStatusUpdateRequested(status);
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}
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void MainWindow::updateWorkStatusLabel(WorkStatus status)
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{
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if (status == WorkStatus::Working || status == WorkStatus::Detecting) {
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clearDetectionLog();
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}
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if (!ui->label_work) {
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return;
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}
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const QString statusText = QString::fromStdString(WorkStatusToString(status));
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ui->label_work->setText(statusText);
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updateStatusLog(tr("工作状态：%1").arg(statusText));
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switch (status) {
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case WorkStatus::Ready:
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ui->label_work->setStyleSheet("color: green;");
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setButtonsEnabled(true);
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break;
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case WorkStatus::InitIng:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false);
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break;
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case WorkStatus::Working:
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case WorkStatus::Detecting:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false);
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break;
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case WorkStatus::Completed:
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ui->label_work->setStyleSheet("color: green; font-weight: bold;");
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setButtonsEnabled(true);
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break;
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case WorkStatus::Error:
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ui->label_work->setStyleSheet("color: red; font-weight: bold;");
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setButtonsEnabled(true);
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break;
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default:
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ui->label_work->setStyleSheet("");
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setButtonsEnabled(false);
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break;
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}
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}
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void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
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{
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updateStatusLog(tr("检测结果已更新"));
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displayImage(result.image);
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addDetectionResult(result);
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}
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void MainWindow::on_btn_start_clicked()
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{
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化"));
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return;
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}
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clearDetectionLog();
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updateStatusLog(tr("开始停车引导检测"));
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if (!m_presenter->TriggerDetection(-1)) {
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updateStatusLog(tr("启动检测失败"));
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}
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}
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void MainWindow::on_btn_stop_clicked()
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{
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if (m_presenter) {
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m_presenter->StopDetection();
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}
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}
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void MainWindow::showParameterDialog(DialogAlgoArg::ConfigPage page, QPushButton* button)
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{
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if (m_selectedButton && m_selectedButton != button) {
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updateStatusLog(tr("请先关闭当前参数窗口"));
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return;
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}
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化"));
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return;
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}
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setButtonSelectedState(button, true);
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if (!ui_dialogAlgoArg) {
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ui_dialogAlgoArg = new DialogAlgoArg(this);
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connect(ui_dialogAlgoArg, &QDialog::finished, this, [this]() {
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if (m_selectedButton) {
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setButtonSelectedState(m_selectedButton, false);
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}
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});
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}
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ui_dialogAlgoArg->SetPresenter(m_presenter);
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ui_dialogAlgoArg->SetCurrentPage(page);
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ui_dialogAlgoArg->show();
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ui_dialogAlgoArg->raise();
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ui_dialogAlgoArg->activateWindow();
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}
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void MainWindow::on_btn_camera_clicked()
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{
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updateStatusLog(tr("打开相机参数设置"));
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showParameterDialog(DialogAlgoArg::ConfigPage::Camera, ui->btn_camera);
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}
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void MainWindow::on_btn_algo_config_clicked()
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{
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updateStatusLog(tr("打开检测参数设置"));
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showParameterDialog(DialogAlgoArg::ConfigPage::Detection, ui->btn_algo_config);
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}
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void MainWindow::on_btn_camera_levelling_clicked()
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{
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updateStatusLog(tr("相机调平功能预留"));
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}
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void MainWindow::on_btn_hide_clicked()
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{
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showMinimized();
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}
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void MainWindow::on_btn_close_clicked()
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{
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close();
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}
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void MainWindow::on_btn_test_clicked()
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{
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if (!m_presenter) {
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StyledMessageBox::warning(this, tr("错误"), tr("系统未初始化"));
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return;
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}
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if (m_selectedButton && m_selectedButton != ui->btn_test) {
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updateStatusLog(tr("请先关闭当前参数窗口"));
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return;
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}
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setButtonSelectedState(ui->btn_test, true);
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clearDetectionLog();
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updateStatusLog(tr("运行预留算法接口测试"));
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std::thread t([this]() {
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const bool ok = m_presenter->TriggerDetection(-1);
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updateStatusLog(ok ? tr("测试检测完成") : tr("测试检测失败"));
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QMetaObject::invokeMethod(this, [this]() {
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setButtonSelectedState(ui->btn_test, false);
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}, Qt::QueuedConnection);
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});
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t.detach();
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}
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void MainWindow::setButtonsEnabled(bool enabled)
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{
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if (ui->btn_start) ui->btn_start->setEnabled(enabled);
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if (ui->btn_stop) ui->btn_stop->setEnabled(enabled);
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if (ui->btn_camera) ui->btn_camera->setEnabled(enabled);
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if (ui->btn_algo_config) ui->btn_algo_config->setEnabled(enabled);
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if (ui->btn_camera_levelling) ui->btn_camera_levelling->setEnabled(enabled);
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if (ui->btn_test) ui->btn_test->setEnabled(enabled);
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}
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void MainWindow::setButtonImage(QPushButton* button, const QString& imagePath)
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{
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if (button) {
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button->setStyleSheet(QString("image: url(%1);background-color: rgb(38, 40, 47);border: none;")
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.arg(imagePath));
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}
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}
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void MainWindow::setButtonSelectedState(QPushButton* button, bool selected)
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{
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if (!button) {
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return;
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}
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QString normalImage;
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QString selectedImage;
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if (button == ui->btn_camera) {
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normalImage = ":/common/resource/config_camera.png";
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selectedImage = ":/common/resource/config_camera_s.png";
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} else if (button == ui->btn_algo_config) {
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normalImage = ":/common/resource/config_algo.png";
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selectedImage = ":/common/resource/config_algo_s.png";
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} else if (button == ui->btn_camera_levelling) {
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normalImage = ":/common/resource/config_camera_level.png";
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selectedImage = ":/common/resource/config_camera_level_s.png";
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} else if (button == ui->btn_test) {
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normalImage = ":/common/resource/config_data_test.png";
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selectedImage = ":/common/resource/config_data_test_s.png";
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}
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if (selected) {
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setButtonImage(button, selectedImage);
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m_selectedButton = button;
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setOtherButtonsEnabled(button, false);
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} else {
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setButtonImage(button, normalImage);
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if (m_selectedButton == button) {
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m_selectedButton = nullptr;
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setOtherButtonsEnabled(nullptr, true);
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}
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}
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}
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void MainWindow::restoreAllButtonStates()
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{
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setButtonSelectedState(ui->btn_camera, false);
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setButtonSelectedState(ui->btn_algo_config, false);
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setButtonSelectedState(ui->btn_camera_levelling, false);
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setButtonSelectedState(ui->btn_test, false);
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}
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void MainWindow::setOtherButtonsEnabled(QPushButton* exceptButton, bool enabled)
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{
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const QList<QPushButton*> configButtons = {
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ui->btn_camera,
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ui->btn_algo_config,
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ui->btn_camera_levelling,
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ui->btn_test
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||
};
|
||
|
||
for (QPushButton* button : configButtons) {
|
||
if (button && button != exceptButton) {
|
||
button->setEnabled(enabled);
|
||
}
|
||
}
|
||
}
|
||
|
||
void MainWindow::onCameraClicked(int cameraIndex)
|
||
{
|
||
if (m_presenter) {
|
||
m_presenter->SetDefaultCameraIndex(cameraIndex);
|
||
}
|
||
}
|
||
|
||
void MainWindow::setupContextMenu()
|
||
{
|
||
m_contextMenu = new QMenu(this);
|
||
m_saveDataAction = new QAction(tr("保存检测数据"), this);
|
||
m_contextMenu->addAction(m_saveDataAction);
|
||
|
||
connect(m_saveDataAction, &QAction::triggered, this, &MainWindow::onSaveDetectionData);
|
||
|
||
ui->detect_image->setContextMenuPolicy(Qt::CustomContextMenu);
|
||
connect(ui->detect_image, &QGraphicsView::customContextMenuRequested,
|
||
this, &MainWindow::showContextMenu);
|
||
}
|
||
|
||
void MainWindow::showContextMenu(const QPoint& pos)
|
||
{
|
||
if (!m_presenter) {
|
||
updateStatusLog(tr("系统未初始化，无法保存数据"));
|
||
return;
|
||
}
|
||
|
||
if (m_presenter->GetDetectionDataCacheSize() == 0) {
|
||
updateStatusLog(tr("没有可保存的检测数据"));
|
||
return;
|
||
}
|
||
|
||
m_contextMenu->exec(ui->detect_image->mapToGlobal(pos));
|
||
}
|
||
|
||
void MainWindow::onSaveDetectionData()
|
||
{
|
||
if (!m_presenter) {
|
||
updateStatusLog(tr("系统未初始化，无法保存数据"));
|
||
return;
|
||
}
|
||
|
||
const QString dirPath = QFileDialog::getExistingDirectory(
|
||
this,
|
||
tr("选择保存目录"),
|
||
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation),
|
||
QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
|
||
|
||
if (dirPath.isEmpty()) {
|
||
updateStatusLog(tr("保存已取消"));
|
||
return;
|
||
}
|
||
|
||
const std::string timeStamp = CVrDateUtils::GetNowTime();
|
||
const QString fileName = QString("停车引导_%1_%2.txt")
|
||
.arg(m_presenter->GetDetectIndex())
|
||
.arg(QString::fromStdString(timeStamp));
|
||
const QString fullPath = QDir(dirPath).filePath(fileName);
|
||
|
||
if (saveDetectionDataToFile(fullPath)) {
|
||
updateStatusLog(tr("检测数据已保存：%1").arg(fileName));
|
||
} else {
|
||
updateStatusLog(tr("保存检测数据失败"));
|
||
}
|
||
}
|
||
|
||
bool MainWindow::saveDetectionDataToFile(const QString& filePath)
|
||
{
|
||
if (!m_presenter) {
|
||
return false;
|
||
}
|
||
|
||
try {
|
||
const int result = m_presenter->SaveDetectionDataToFile(filePath.toStdString());
|
||
if (result != 0) {
|
||
updateStatusLog(tr("保存数据失败，错误码：%1").arg(result));
|
||
return false;
|
||
}
|
||
return true;
|
||
} catch (const std::exception&) {
|
||
updateStatusLog(tr("保存数据异常"));
|
||
return false;
|
||
}
|
||
}
|